Function ouster::sdk::algorithm::voxel_downsample_with_normals¶

Defined in File voxel_downsample.h

Function Documentation¶

std::pair<core::ArrayX3dR, core::ArrayX3dR> ouster::sdk::algorithm::voxel_downsample_with_normals(Eigen::Ref<const core::ArrayX3dR> points, Eigen::Ref<const core::ArrayX3dR> normals, double voxel_size)¶

Voxel-grid downsample points and normals.

Points are averaged per voxel. Input normals are normalized, accumulated, and the resulting per-voxel normal is normalized before output.

Throws:: std::invalid_argument – If either input does not have three columns, their row counts differ, or voxel_size is not greater than zero.